Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS

Abstract:

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The dynamic modeling of a six-leg-wheel hybrid mobile robot was built using ADAMS software in this paper. Using the ADAMS model, the kinematic simulation, including the displacement, velocity and acceleration of each part of the robot, can be carried out and the dynamic simulation, including driving torque of joints, contact force and torque between the wheels with ground and the ability of obstacle negotiation, can also be achieved. The simulation examples were presented. The simulation analyses provide the theory basis for the design of the robot control system based on dynamics.

Info:

Periodical:

Edited by:

Zhenyu Du and Bin Liu

Pages:

194-197

DOI:

10.4028/www.scientific.net/AMM.26-28.194

Citation:

Y. J. Li and Z. W. Wu, "Modeling and Simulation of a Six-Leg-Wheel Hybrid Mobile Robot Based on ADAMS", Applied Mechanics and Materials, Vols. 26-28, pp. 194-197, 2010

Online since:

June 2010

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Price:

$35.00

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